forked from xtdrone/XTDrone
47 lines
3.0 KiB
Markdown
47 lines
3.0 KiB
Markdown
# vrx_gazebo
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## Description
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This package provides gazebo models, plugins, and examples for simulating the [RobotX challenge](https://www.robotx.org/index.php/2014-01-05-21-55-32/2016-rules-requirements) within Gazebo using ROS.
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## Usage
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To launch gazebo with an example course layout and WAM-V platform, run:
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```roslaunch vrx_gazebo sandisland.launch```
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## Course models
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The following models are used in the RobotX challenge and will be included in this package.
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| Task Element | Product | Status | Model |
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|:-----------------------------|:-------------------------|:-------|:-------|
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| Light Buoy | Custom | ADDED | robotx_light_buoy |
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| Obstacle - Small | PolyForm A-3 black | ADDED | polyform_a3 |
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| Obstacle - Medium | PolyForm A-5 black | ADDED | polyform_a5 |
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| Obstacle - Large | PolyForm A-7 black | ADDED | polyform_a7 |
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| Red Can buoy | Sur-Mark Can Buoy 950410 | ADDED | surmark950410 |
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| Green Can buoy | Sur-Mark Can Buoy 950400 | ADDED | surmark950400 |
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| White Can buoy | Sur-Mark Can Buoy 46104 | ADDED | surmark46104 |
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| Green Totem | 46104 w/ Green Cover | ADDED | green_totem |
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| Yellow Totem | 46104 w/ Yellow Cover | ADDED | yellow_totem |
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| Blue Totem | 46104 w/ Blue Cover | ADDED | blue_totem |
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| Red Totem | 46104 w/ Red Cover | ADDED | red_totem |
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| Black Totem | 46104 w/ Black Cover | ADDED | black_totem |
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| Dock Material | JetDock C000000008 | ADDED | dock_block |
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| 2016 Dock | Custom Assembly | ADDED | robotx_dock_2016 |
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| 2018 Dock | Custom Assembly | ADDED | robotx_dock_2018 |
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| Blue Circle Symbol | Custom | ADDED | symbol_circle |
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| Blue Cruciform Symbol | Custom | ADDED | symbol_cross |
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| Blue Triangle Symbol | Custom | ADDED | symbol_triangle |
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| Green Circle Symbol | Custom | ADDED | symbol_circle |
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| Green Cruciform Symbol | Custom | ADDED | symbol_cross |
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| Green Triangle Symbol | Custom | ADDED | symbol_triangle |
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| Red Circle Symbol | Custom | ADDED | symbol_circle |
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| Red Cruciform Symbol | Custom | ADDED | symbol_cross |
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| Red Triangle Symbol | Custom | ADDED | symbol_triangle |
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| 2016 Pinger Transit (quals) | Custom Group of objects | ADDED | robotx_2016_qualifying_pinger_transit |
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| 2016 Pinger Transit (finals) | Custom Group of objects | ADDED | robotx_2016_finals_pinger_transit |
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| 2018 Entrance/Exit Gate | Custom Group of objects | ADDED | robotx_2018_entrance_gate |
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| White placard | Custom | ADDED | placard |
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*= More detailed model needed
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